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CN113859565A - LADRC-based telescopic arm type unmanned aerial vehicle empty base recovery butt joint control method - Google Patents

LADRC-based telescopic arm type unmanned aerial vehicle empty base recovery butt joint control method Download PDF

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CN113859565A
CN113859565A CN202111208298.1A CN202111208298A CN113859565A CN 113859565 A CN113859565 A CN 113859565A CN 202111208298 A CN202111208298 A CN 202111208298A CN 113859565 A CN113859565 A CN 113859565A
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pitch
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CN113859565B (en
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苏子康
徐忠楠
李春涛
李雪兵
余跃
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Nanjing University of Aeronautics and Astronautics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
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    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract

本发明公开了基于LADRC的伸缩套臂式无人机空基回收对接控制方法，具体为：首先，建立伸缩套臂非线性模型并对其进行仿射非线性处理；进而，综合考虑伸缩套臂受环境扰流及模型内不可测瞬变扰动的影响，设计扩张状态观测器，以准确重构系统内不可测集总扰动；然后，基于扩张状态观测器估计扰动，设计基于线性自抗扰技术的空基回收伸缩套臂高抗扰对接控制方法，以实现环境扰流下伸缩套臂精准对接控制。本发明构建了伸缩套臂三通道仿射非线性模型，并基于该模型设计了基于线性自抗扰技术的对接控制器，实现了伸缩套臂在扰流作用下的精准运动控制，提高了无人机空基回收效率。同时，还为低成本无人机远程作战、机动突防、快速部署等提供技术支撑。

Figure 202111208298

The invention discloses a LADRC-based telescopic arm-type unmanned aerial vehicle space-based recovery and docking control method, which is specifically as follows: firstly, a nonlinear model of the telescopic arm is established and affine nonlinear processing is performed on it; and then, the telescopic arm is comprehensively considered. Affected by environmental disturbances and unmeasurable transient disturbances in the model, an extended state observer is designed to accurately reconstruct the unmeasurable lumped disturbances in the system; then, the disturbance is estimated based on the extended state observer, and the linear active disturbance rejection technology is designed. The high-disturbance docking control method of the space-based recovery telescopic sleeve arm is used to realize the precise docking control of the telescopic sleeve arm under environmental turbulence. The invention constructs a three-channel affine nonlinear model of the telescopic sleeve arm, and designs a docking controller based on the linear active disturbance rejection technology based on the model, which realizes the precise motion control of the telescopic sleeve arm under the action of turbulence, and improves the safety and reliability of the telescopic sleeve arm. Man-machine space-based recovery efficiency. At the same time, it also provides technical support for low-cost UAV long-range operations, mobile penetration, and rapid deployment.

Figure 202111208298

Description

LADRC-based telescopic arm type unmanned aerial vehicle empty base recovery butt joint control method
Technical Field
The invention relates to a telescopic sleeve arm type unmanned aerial vehicle empty base recovery butt joint control method based on LADRC, and belongs to the technical field of unmanned aerial vehicle recovery.
Background
In recent years, small-sized fixed-wing unmanned aerial vehicles are widely concerned by various countries and military communities by virtue of the characteristics of small size and high speed, and are used in military fields such as reconnaissance, monitoring, penetration, attack, cluster cooperative fire attack and the like in aeronautical developed countries. However, due to the limitations of self design and combat mission, most of small-sized fixed-wing unmanned aerial vehicles do not have the remote combat capability and cannot perform tasks such as remote investigation, maneuvering penetration, enemy attack and the like. Even if a large-scale transport plane is adopted to carry out remote air-based launching deployment, the remote dangerous task area still faces the embarrassment that the large-scale transport plane cannot be effectively recovered after the task is executed because the remote dangerous task area has no reliable land-based/ship-based landing platform. This not only greatly reduces its useful life, but also significantly increases operational costs. Therefore, under the condition of no reliable land-based/ship-based recovery platform, how to adopt a large-scale air-based recovery platform airplane (hereinafter referred to as a mother airplane) to quickly and effectively recover the small-scale fixed-wing unmanned aerial vehicle in the air can realize the repeated use of the unmanned aerial vehicle and obviously reduce the operation cost, and can also provide technical support for the development of novel operation technologies such as low-cost unmanned aerial vehicle quick deployment, maneuvering defense, cooperative investigation and cluster attack, and the like, thereby having important practical significance and considerable military efficiency.
There are two main types of space-based recovery schemes currently represented by the "sprite" project of the united states: towing cable-buoy butt-joint type recovery and mechanical arm grabbing type recovery. And the towing cable-buoy butt-joint type recovery locks the unmanned aerial vehicle through retractable cable-buoy butt joint towed on the female machine, and the unmanned aerial vehicle is reeled back to the cabin of the female machine by the cable. This recovery mode adopts aerial flexible butt joint mode, though effectively improve butt joint flight safety, has reduced butt joint accident rate and unmanned aerial vehicle damage. However, the flexible and easily-disturbed cable-buoy system has poor stability in the air, so that the butt joint process is long, and the recovery efficiency is low. The mechanical arm snatchs the formula and retrieves and then carries out the butt joint with the help of installing in the arm of female machine is direct to stabilizing in the unmanned aerial vehicle of expectation position, then removes it and retrieves to female machine cabin. Although the problem of poor aerial stability of the flexible cable buoy system which is easy to disturb is solved by the recovery mode, the empty foundation recovery efficiency is further improved, but due to the limitation of the structure and the size of the mechanical arm, the butt joint point is close to the recovery platform, and the butt joint risk is slightly high. Therefore, in order to enable the air-based recovery operation to have high efficiency and safety, a new unmanned aerial vehicle air-based recovery docking control method needs to be provided, so that the recovery efficiency is guaranteed, and meanwhile, the recovery point is far away from the mother machine platform, and the recovery risk is further reduced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method comprises the steps of establishing an affine nonlinear model of a telescopic boom recovery device, designing a high-interference-rejection docking control method by adopting a linear active interference rejection technology (LADRC) based on the model, so that accurate control of docking motion of the telescopic boom under disturbance of a space-based recovery environment is realized, and reliability and recovery efficiency of space-based recovery of the unmanned aerial vehicle are improved.
The invention adopts the following technical scheme for solving the technical problems:
the control method is realized based on a telescopic boom type unmanned aerial vehicle empty foundation recovery device, the device comprises a fixed platform arranged at the tail of an aircraft cabin of an empty foundation recovery platform, the lower end of the fixed platform is connected with a rotating base, the rotating base is connected with a boom through a controllable pitching joint, the boom is hollow and sleeved with a telescopic boom, the length of the telescopic boom is smaller than that of the boom, and a manipulator is arranged at the extending tail of the telescopic boom; the control method comprises the following steps:
step 1, establishing a yaw, pitch and telescopic joint coordinate system according to the structure and the freedom of motion of a telescopic arm type unmanned aerial vehicle space-based recovery device;
step 2, dividing a telescopic sleeve arm dynamic model into a yaw joint dynamic equation, a pitch joint dynamic equation and a telescopic joint dynamic equation according to different joint motion effects, constructing the yaw joint dynamic equation by adopting a rotational inertia mass projection method, and constructing the pitch and telescopic joint dynamic equations by adopting a Lagrange equation method;
step 3, forming a three-channel dynamic model of the telescopic sleeve arm by yaw, pitch and telescopic joint dynamic equations, and carrying out affine nonlinear processing on the three-channel dynamic model under the condition of considering environmental turbulence to obtain the three-channel affine nonlinear model of the telescopic sleeve arm;
step 4, aiming at the system lumped disturbance formed by the undetectable transient disturbance and the space-based recovery environment disturbed flow in the telescopic sleeve arm three-channel affine nonlinear model in the step 3, constructing an extended state observer to reconstruct the lumped disturbance of each channel;
and 5, combining the extended state observer in the step 4, designing a space-based recovery docking controller of the telescopic sleeve arm unmanned aerial vehicle based on a linear active disturbance rejection technology, and realizing space-based recovery docking control of the telescopic sleeve arm unmanned aerial vehicle under the environment disturbance flow.
As a preferable embodiment of the present invention, in the step 1, the yaw joint coordinate system is O0-X0Y0Z0Origin of coordinates O thereof0The yaw joint coordinate system is coincided with the center of the rotating base, the direction of a Z axis is coincided with the direction of a rotating shaft of the rotating base, an X axis is parallel to an X axis of a flight path coordinate system of the air-based recovery platform airplane, a Y axis is parallel to a Y axis of the flight path coordinate system of the air-based recovery platform airplane, and the yaw joint coordinate system meets the right-hand rule;
coordinate system of pitch joint is O1-X1Y1Z1Origin of coordinates O thereof1The direction of the Z axis is the direction of a rotating shaft of the controllable pitching joint, the direction of the X axis points to the telescopic direction of the telescopic arm, and the direction of the Y axis is determined according to a right hand rule;
coordinate system of telescopic joint is O2-X2Y2Z2Origin of coordinates O thereof2Is positioned at the center of the tail end of the sleeve arm, and the axial directions of the sleeve arm and the coordinate system of the pitching jointThe corresponding axes are parallel in direction and same in direction.
As a preferred scheme of the present invention, in step 2, a rotational inertia mass projection method is adopted to construct a yaw joint dynamic equation, which specifically includes:
Figure BDA0003307735870000031
in the formula, m1、m2、m3、m4The mass of the rotary base, the sleeve arm, the telescopic arm and the manipulator are respectively; r1、R2、R3Respectively the section radiuses of the rotating base, the sleeve arm and the telescopic arm; xi is the sleeve arm and X0Z0A plane included angle; omega1The yaw rate of the telescopic boom; delta is a sleeve arm and X0Y0A plane included angle; l2The length of the sleeve arm; l3The length of the telescopic arm; Δ l3The telescopic arm extends out of the sleeve arm by the length; tau is1Is yaw joint drive torque;
in the step 2, the pitching and stretching joint kinetic equations are obtained by means of a Lagrange equation according to a modeling method of the multi-joint mechanical arm under the condition that the interaction force in the system is not obtained, and the pitching and stretching joint kinetic equations are specifically as follows:
Figure BDA0003307735870000032
Figure BDA0003307735870000041
in the formula, ω2Is the pitch angle speed of the telescopic sleeve arm; chi is the position of the mass center of the rigid body formed by combining the manipulator and the telescopic arm,
Figure BDA0003307735870000042
τ2pitch joint drive torque; f3Is the driving force of the telescopic joint; g isAcceleration of gravity; v. of3The sliding speed of the telescopic arm is adopted;
Figure BDA0003307735870000043
K3＝(m3+m4)。
as a preferable scheme of the present invention, in step 3, under the condition that the space-based recovery environment turbulence is considered, the three-channel dynamic model of the telescopic boom is rewritten into an affine nonlinear form by using equivalent mathematical transformation, so as to obtain an affine nonlinear model of the telescopic boom, where the affine nonlinear model of the telescopic boom has a specific form as follows:
Figure BDA0003307735870000044
in the formula, X1＝[ξ δ Δl3]T、X2＝[ω1 ω2 v3]TAll are telescopic boom system states; b ═ diag (B)1,b2,b3)、U＝[τ1 τ2 F3]TRespectively is an input matrix and a control input of the telescopic boom system; f ═ 0F2 f3]TIs an undetectable transient disturbance within the model; w ═ W1 w2 w3]TRecovery of environmental turbulence for empty foundation, w1＝0.25ρCdR2V2(l2+Δl3)2sin2δsinξ，w2＝0.5ρCdR2V2(l2+Δl3)2cosξsin3δ，w3＝0.5ρΔl3CdR3V2cos ξ sin2 δ, where ρ, CdV is air density, drag coefficient and flight speed of the air-based recovery platform airplane respectively; d ═ D1 D2 D3]TLumped disturbance, D, of the system formed by the immeasurable transient disturbance in the model and the disturbance of the space-based recovery environment1、D2、D3Lumped disturbances are provided for yaw, pitch and flex channels, respectively.
As a preferred scheme of the present invention, in step 4, for a system lumped disturbance formed by an undetectable transient disturbance and a space-based recovery environment disturbed flow in a three-channel affine nonlinear model of a telescopic boom, a specifically constructed expansion state observer is as follows:
Figure BDA0003307735870000045
in the formula (I), the compound is shown in the specification,
Figure BDA0003307735870000046
are all estimated values of the state of the system,
Figure BDA0003307735870000047
is xi, delta and delta l respectively3The value of the estimated value is,
Figure BDA0003307735870000048
respectively yaw angular velocity omega1Pitch angle velocity omega2And the sliding velocity v of the telescopic arm3An estimated value; e.g. of the typeE＝[eE1 eE2 eE3]TEstimating the deviation for the observer state, eE1、eE2、eE3Estimating deviations for states of the yaw, pitch and telescopic channel observers respectively;
Figure BDA0003307735870000051
in order to provide a system with a global disturbance estimate,
Figure BDA0003307735870000052
respectively estimating the total disturbance of the yaw, the pitch and the telescopic channels;
Figure BDA0003307735870000053
are all the coefficients of the observer,
Figure BDA0003307735870000054
respectively the bandwidth of the three channel observer.
As a preferable scheme of the invention, in the step 5, the specific form of the air-based recovery docking controller of the telescopic boom unmanned aerial vehicle is as follows:
Figure BDA0003307735870000055
in the formula (I), the compound is shown in the specification,
Figure BDA0003307735870000056
in order to provide a telescopic boom state instruction,
Figure BDA0003307735870000057
respectively indicating yaw, pitch and telescopic channel state instructions; e.g. of the typec1＝[ec11 ec12 ec13]T、ec2＝[ec21 ec22 ec23]TAre systematic tracking errors, ec11、ec12、ec13Yaw, pitch and telescoping channel tracking errors, respectively, ec21、ec22、ec23Respectively differentiating the tracking errors of the yaw, the pitch and the telescopic channel; u shapec＝[uc1 uc2 uc3]TFor control input, uc1、uc2、uc3Respectively as yaw, pitch and telescopic channel control inputs; c1＝diag(c11,c12,c13)、C2＝diag(c21,c22,c23) As controller coefficient, c11、c21For yaw channel controller coefficients, c12、c22For pitch channel controller coefficients, c13、c23Is the controller coefficient of the telescopic channel.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the invention provides a telescopic boom type unmanned aerial vehicle air-base recovery butt joint control method based on LADRC, a telescopic boom three-channel affine nonlinear model is constructed, and a model foundation is laid for the subsequent development of air-base recovery telescopic boom motion control design. And aiming at the influences of environment turbulence and immeasurable transient disturbance in the model in the space-based recovery process, a three-channel extended state observer is designed, and the immeasurable lumped disturbance of the system is accurately reconstructed. Meanwhile, an interference observation technology is combined, the telescopic sleeve arm type unmanned aerial vehicle air base recovery butt joint controller based on LADRC is provided, the motion control precision and the anti-interference capability of the telescopic sleeve arm are effectively improved, and the efficiency and the reliability of air base recovery are remarkably improved.
Drawings
Fig. 1 is a schematic diagram of a control method for space-based recovery and docking of a telescopic arm-type unmanned aerial vehicle based on LADRC provided by the invention.
Fig. 2 is an overall schematic view of the telescopic boom type unmanned aerial vehicle empty base recovery device in the invention.
Wherein, 1-mother machine; 2-a fixed platform; 3-rotating the base; 4-controllable pitch joint; 5-arm set; 6-telescopic arm; 7-a manipulator; 8-unmanned aerial vehicle to be recovered.
FIG. 3 is a diagram of simulation results of the extended state observer lumped disturbance estimation in the present invention, wherein (a) is a yaw joint lumped disturbance estimation, (b) is a pitch joint lumped disturbance estimation, and (c) is a telescopic joint lumped disturbance estimation.
Fig. 4 is a diagram showing a simulation result of the telescopic boom docking control method according to the present invention, in which (a) is a change in the output radian of the yaw joint, (b) is a change in the output radian of the pitch joint, and (c) is a change in the output radian of the telescopic joint.
Fig. 5 is a simulation result diagram of the telescopic boom docking control method provided by the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The invention discloses a LADRC-based telescopic boom type unmanned aerial vehicle empty base recovery docking control method, which comprises the following steps of firstly, establishing a telescopic boom nonlinear model and carrying out affine nonlinear processing on the telescopic boom nonlinear model; furthermore, the influence of environment disturbed flow and undetectable transient disturbance in the model on the telescopic sleeve arm is comprehensively considered, and an extended state observer is designed to accurately reconstruct the undetectable concentrated disturbance in the system; then, estimating disturbance based on the extended state observer, and designing a high-disturbance-rejection butt joint control method of the space-based recovery telescopic boom based on a linear active disturbance rejection technology so as to realize accurate butt joint control of the telescopic boom under the environment disturbance flow.
In this example, a parent machine with a telescopic boom attached thereto is set to perform a constant level flight motion, with a flight height H of 3000m, a flight speed V of 100m/s, a mass of 136000kg, and a wing span of 39.88 m.
As shown in fig. 1, the method for controlling the air-based recovery and docking of the telescopic arm type unmanned aerial vehicle based on the LADRC specifically comprises the following steps:
step one, establishing a yaw, pitch and telescopic joint coordinate system according to the structure and the freedom of motion of the telescopic armlet type empty base recovery device shown in the figure 2.
The telescopic sleeve arm type empty base recovery device mainly comprises a rotating base 3, a controllable pitching joint 4, a sleeve arm 5, a telescopic arm 6 and a manipulator 7, and is integrally installed at the tail of a machine body of a mother machine 1 through a fixed platform 2. Wherein, the rotating base 3 and the controllable pitching joint 4 are driven by a hydraulic device, and the yawing and pitching movement of the telescopic arm can be realized. Meanwhile, the sleeve arm 5 is hollow inside, and the telescopic arm 6 is nested and installed to realize telescopic movement of the recovery device. And the manipulator 7 is used for grabbing and locking the unmanned aerial vehicle 8 to be recovered in the empty base recovery process.
In the established joint coordinate system, O0-X0Y0Z0The yaw joint coordinate system is a yaw joint coordinate system, a coordinate origin of the yaw joint coordinate system is coincided with the center of the rotating base, the direction of a Z axis is coincided with the direction of a rotating shaft of the rotating base, an X axis and a Y axis are respectively parallel to an X axis and a Y axis of a flight path coordinate system of the parent machine, and the whole coordinate system meets the right-hand rule; o is1-X1Y1Z1The system is a pitching joint coordinate system, a coordinate origin of the system is superposed with the center of a controllable pitching joint, the Z-axis direction is the direction of a rotating shaft of the pitching joint, the X-axis direction points to the telescopic direction of a telescopic arm, and the Y-axis direction is determined according to a right-hand rule; o is2-X2Y2Z2The telescopic joint coordinate system is characterized in that the coordinate origin is located at the center of the tail end of the sleeve arm, and the axial directions of the coordinate origin are parallel to the axial directions of the pitching joint coordinate system and have the same direction;
describing the motion state of the manipulator by means of the homogeneous transformation relation of the coordinate systems of all joints, and establishing a kinematic model of the telescopic boom0Pe：
Figure BDA0003307735870000071
In the formula:1Pethe position of the center of mass of the manipulator under a pitching coordinate system is shown;0T1a transformation matrix between a pitching coordinate system and a yawing coordinate system; l2The length of the sleeve arm; Δ l3The telescopic arm extends out of the sleeve arm by the length; delta is a sleeve arm and X0Y0A plane included angle; xi is the sleeve arm and X0Z0A plane included angle;
in this step, the length l of the arm is selected2＝8.7m。
Dividing a telescopic sleeve arm dynamic model into a yaw part and a pitch-telescopic part according to different joint motion effects, and respectively constructing by adopting a rotational inertia mass projection method and a Lagrange equation method;
in the step, the dynamic equation of the yaw joint of the telescopic sleeve arm drives the whole telescopic sleeve arm to rotate around the rotating base because the yaw joint mainly moves, so that the dynamic model can drive the torque tau by the joint1Angular velocity omega of telescopic sleeve arm1And moment of inertia I1However, because the sleeve arm, the telescopic arm and the tail end manipulator have a certain included angle with the yaw motion rotating shaft, the corresponding rigid body moment of inertia needs to be obtained through a mass projection method. The telescopic boom pitching and telescopic joint dynamic equations can be obtained by means of a Lagrange equation under the condition that the interaction force in the system is not obtained according to a modeling method of the multi-joint mechanical arm. The yaw, pitch and telescopic joint dynamic model is as follows:
Figure BDA0003307735870000081
Figure BDA0003307735870000082
Figure BDA0003307735870000083
in the formula: m is1、m2、m3、m4The mass of the rotary base, the sleeve arm, the telescopic arm and the manipulator are respectively; r1、R2、R3Respectively the section radiuses of the rotating base, the sleeve arm and the telescopic arm; l3The length of the telescopic arm; omega2Is the pitch angle speed of the telescopic sleeve arm; tau is2Pitch joint drive torque; v. of3The sliding speed of the telescopic arm is adopted; f3Is the driving force of the telescopic joint; g is the acceleration of gravity;
Figure BDA0003307735870000084
the center of mass position of the rigid body is combined by the mechanical arm and the telescopic arm;
Figure BDA0003307735870000085
K3＝(m3+m4)。
and step three, forming a three-channel dynamic model of the telescopic sleeve arm by yaw, pitch and telescopic joint dynamic equations, and rewriting the three-channel dynamic model into an affine nonlinear form by adopting equivalent mathematical transformation under the condition of considering environmental turbulence. The specific form of the telescopic boom affine nonlinear model is as follows:
Figure BDA0003307735870000086
in the formula: x1＝[ξ δ Δl3]T，X2＝[ω1 ω2 v3]TAll are telescopic boom system states; b ═ diag (B)1,b2,b3)，U＝[τ1 τ2 F3]TRespectively is an input matrix and a control input of the telescopic boom system; f ═ 0F2 f3]TIs an undetectable transient disturbance within the model; w ═ W1 w2 w3]TRecovery of environmental turbulence for empty foundation, w1＝0.25ρCdR2V2(l2+Δl3)2sin2δsinξ，w2＝0.5ρCdR2V2(l2+Δl3)2cosξsin3δ，w3＝0.5ρΔl3CdR3V2cos ξ sin2 δ, where ρ, CdV is air density, drag coefficient and aircraft flying speed; d ═ D1 D2 D3]TLumped disturbance, D, of the system formed by the immeasurable transient disturbance in the model and the disturbance of the space-based recovery environment1、D2、D3Lumped disturbances are provided for yaw, pitch and flex channels, respectively.
In the step, the mass of the rotary base, the mass of the sleeve arm, the mass of the telescopic arm and the mass of the manipulator are respectively m1＝30kg,m2＝250kg,m3＝170kg,m425 kg; the section radiuses of the rotary base, the sleeve arm and the telescopic arm are respectively R1＝0.15m,R2＝0.1m,R30.08 m; length l of telescopic arm38.3 m; the gravity acceleration g is 9.8; air density ρ 0.73kg/m3(ii) a Coefficient of wind resistance Cd0.2; the flying speed V of the mother aircraft is 100 m/s.
Step four, aiming at system lumped disturbance formed by three-channel immeasurable transient model disturbance of the telescopic sleeve arm and space-based recovery environment disturbance in the step three, respectively constructing an extended state observer, and reconstructing the lumped disturbance of each channel;
in the step, aiming at system lumped disturbance formed by three-channel undetectable transient model disturbance of the telescopic sleeve arm and disturbance of the space-based recovery environment, the constructed expansion state observer specifically comprises the following steps:
Figure BDA0003307735870000091
in the formula:
Figure BDA0003307735870000092
are all estimated values of the state of the system,
Figure BDA0003307735870000093
is xi, delta and delta l respectively3The value of the estimated value is,
Figure BDA0003307735870000094
respectively yaw angular velocity omega1Pitch angle velocity omega2And the sliding velocity v of the telescopic arm3An estimated value; e.g. of the typeE＝[eE1 eE2 eE3]TEstimating the deviation for the observer state, eE1、eE2、eE3Estimating deviations for states of the yaw, pitch and telescopic channel observers respectively;
Figure BDA0003307735870000095
in order to provide a system with a global disturbance estimate,
Figure BDA0003307735870000096
respectively estimating the total disturbance of the yaw, the pitch and the telescopic channels;
Figure BDA0003307735870000097
are all the coefficients of the observer,
Figure BDA0003307735870000098
respectively the bandwidth of the three-channel observer;
in this step, the bandwidths of the three-channel observers are respectively selected as
Figure BDA0003307735870000099
And step five, combining the extended state observer in the step four, providing a telescopic arm type unmanned aerial vehicle air-based recovery docking controller based on LADRC.
The specific form of the controller used in the LADRC-based telescopic boom docking control method in the step is as follows:
Figure BDA0003307735870000101
in the formula:
Figure BDA0003307735870000102
in order to provide a telescopic boom state instruction,
Figure BDA0003307735870000103
respectively indicating yaw, pitch and telescopic channel state instructions; e.g. of the typec1＝[ec11 ec12 ec13]T、ec2＝[ec21 ec22 ec23]TAre systematic tracking errors, ec11、ec12、ec13Yaw, pitch and telescoping channel tracking errors, respectively, ec21、ec22、ec23Respectively differentiating the tracking errors of the yaw, the pitch and the telescopic channel; u shapec＝[uc1 uc2 uc3]TFor control input, uc1、uc2、uc3Respectively as yaw, pitch and telescopic channel control inputs; c1＝diag(c11,c12,c13)，C2＝diag(c21,c22,c23) As controller coefficient, c11、c21For yaw channel controller coefficients, c12、c22For pitch channel controller coefficients, c13、c23Is the controller coefficient of the telescopic channel.
In this step, the specific control coefficient of the controller is selected as C1＝diag(60,50,70)；C2＝diag(80,70,90)。
By adopting the LADRC-based air-based recovery and docking control method for the telescopic boom type unmanned aerial vehicle, the initial state of the telescopic boom is
Figure BDA0003307735870000104
The target state is
Figure BDA0003307735870000105
Under the condition of (3), the observer and the butt joint control result are obtained through simulation.
As shown in (a), (b) and (c) of fig. 3, the linear extended state observer lumped disturbance estimation result is designed for this example. According to the diagram, although the yaw, pitch and collective disturbance of the telescopic sleeve arm are changed rapidly in the recovery and butt joint process, the designed observer can still track the real disturbance well and the estimation deviation is small. Therefore, it is fully demonstrated that the linear extended state observer provided by the invention has a good estimation effect on lumped disturbance of each channel in the telescopic boom space-based recovery process.
Fig. 4-5 are simulation result diagrams of the telescopic boom docking control method provided by the invention. As can be seen from (a), (b) and (c) in FIG. 4, each channel of the telescopic boom can better track the docking instruction under the control of the designed controller, and the tracking error of the whole process is small. Meanwhile, as can be seen from fig. 5, the movement of each joint of the telescopic sleeve arm is well matched in the recovery and butt joint process, and the butt joint track is smooth. Therefore, the telescopic boom butt joint control method provided by the invention is verified to still have a good control effect and high anti-interference capability under the action of environmental turbulence.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.

Claims (6)

1. The control method is realized based on a telescopic boom type unmanned aerial vehicle empty foundation recovery device, the device comprises a fixed platform arranged at the tail of an aircraft cabin of an empty foundation recovery platform, the lower end of the fixed platform is connected with a rotating base, the rotating base is connected with a boom through a controllable pitching joint, the boom is hollow and sleeved with a telescopic boom, the length of the telescopic boom is smaller than that of the boom, and a manipulator is arranged at the extending tail of the telescopic boom; the control method is characterized by comprising the following steps:
step 1, establishing a yaw, pitch and telescopic joint coordinate system according to the structure and the freedom of motion of a telescopic arm type unmanned aerial vehicle space-based recovery device;
step 2, dividing a telescopic sleeve arm dynamic model into a yaw joint dynamic equation, a pitch joint dynamic equation and a telescopic joint dynamic equation according to different joint motion effects, constructing the yaw joint dynamic equation by adopting a rotational inertia mass projection method, and constructing the pitch and telescopic joint dynamic equations by adopting a Lagrange equation method;
step 3, forming a three-channel dynamic model of the telescopic sleeve arm by yaw, pitch and telescopic joint dynamic equations, and carrying out affine nonlinear processing on the three-channel dynamic model under the condition of considering environmental turbulence to obtain the three-channel affine nonlinear model of the telescopic sleeve arm;
step 4, aiming at the system lumped disturbance formed by the undetectable transient disturbance and the space-based recovery environment disturbed flow in the telescopic sleeve arm three-channel affine nonlinear model in the step 3, constructing an extended state observer to reconstruct the lumped disturbance of each channel;
and 5, combining the extended state observer in the step 4, designing a space-based recovery docking controller of the telescopic sleeve arm unmanned aerial vehicle based on a linear active disturbance rejection technology, and realizing space-based recovery docking control of the telescopic sleeve arm unmanned aerial vehicle under the environment disturbance flow.
2. The LADRC-based telescopic boom type unmanned aerial vehicle air-based recovery and docking control method as claimed in claim 1, wherein in the step 1, a yaw joint coordinate system is O0-X0Y0Z0Origin of coordinates O thereof0The yaw joint coordinate system is coincided with the center of the rotating base, the direction of a Z axis is coincided with the direction of a rotating shaft of the rotating base, an X axis is parallel to an X axis of a flight path coordinate system of the air-based recovery platform airplane, a Y axis is parallel to a Y axis of the flight path coordinate system of the air-based recovery platform airplane, and the yaw joint coordinate system meets the right-hand rule;
coordinate system of pitch joint is O1-X1Y1Z1Origin of coordinates O thereof1The direction of the Z axis is the direction of a rotating shaft of the controllable pitching joint, the direction of the X axis points to the telescopic direction of the telescopic arm, and the direction of the Y axis is determined according to a right hand rule;
coordinate system of telescopic joint is O2-X2Y2Z2Origin of coordinates O thereof2And the sleeve arm is positioned at the center of the tail end of the sleeve arm, and all the axial directions of the sleeve arm are parallel to all the axial directions corresponding to the pitching joint coordinate system and have the same direction.
3. The LADRC-based telescopic boom type unmanned aerial vehicle empty-base recovery docking control method according to claim 2, wherein in the step 2, a rotational inertia mass projection method is adopted to construct a yaw joint dynamic equation, and the yaw joint dynamic equation is specifically as follows:
Figure FDA0003307735860000021
in the formula, m1、m2、m3、m4The mass of the rotary base, the sleeve arm, the telescopic arm and the manipulator are respectively; r1、R2、R3Respectively the section radiuses of the rotating base, the sleeve arm and the telescopic arm; xi is the sleeve arm and X0Z0A plane included angle; omega1The yaw rate of the telescopic boom; delta is a sleeve arm and X0Y0A plane included angle; l2The length of the sleeve arm; l3The length of the telescopic arm; Δ l3The telescopic arm extends out of the sleeve arm by the length; tau is1Is yaw joint drive torque;
in the step 2, the pitching and stretching joint kinetic equations are obtained by means of a Lagrange equation according to a modeling method of the multi-joint mechanical arm under the condition that the interaction force in the system is not obtained, and the pitching and stretching joint kinetic equations are specifically as follows:
Figure FDA0003307735860000022
Figure FDA0003307735860000023
in the formula, ω2Is the pitch angle speed of the telescopic sleeve arm; chi is the position of the mass center of the rigid body formed by combining the manipulator and the telescopic arm,
Figure FDA0003307735860000024
τ2pitch joint drive torque; f3Is the driving force of the telescopic joint; g is the acceleration of gravity; v. of3The sliding speed of the telescopic arm is adopted;
Figure FDA0003307735860000025
K3＝(m3+m4)。
4. the LADRC-based air-based recovery and docking control method for the telescopic boom unmanned aerial vehicle, according to claim 3, wherein in the step 3, under the condition that air-based recovery environment turbulence is considered, an equivalent mathematical transformation is adopted to rewrite a three-channel dynamic model of the telescopic boom into an affine nonlinear model, so as to obtain an affine nonlinear model of the telescopic boom, wherein the specific form of the affine nonlinear model of the telescopic boom is as follows:
Figure FDA0003307735860000031
in the formula, X1＝[ξ δ Δl3]T、X2＝[ω1 ω2 v3]TAll are telescopic boom system states; b ═ diag (B)1,b2,b3)、U＝[τ1 τ2 F3]TRespectively is an input matrix and a control input of the telescopic boom system; f ═ 0F2 f3]TIs an undetectable transient disturbance within the model; w ═ W1 w2 w3]TRecovery of environmental turbulence for empty foundation, w1＝0.25ρCdR2V2(l2+Δl3)2sin2δsinξ，w2＝0.5ρCdR2V2(l2+Δl3)2cosξsin3δ，w3＝0.5ρΔl3CdR3V2cos ξ sin2 δ, where ρ, CdV is air density, drag coefficient and flight speed of the air-based recovery platform airplane respectively; d ═ D1 D2 D3]TLumped disturbance, D, of the system formed by the immeasurable transient disturbance in the model and the disturbance of the space-based recovery environment1、D2、D3Lumped disturbances are provided for yaw, pitch and flex channels, respectively.
5. The LADRC-based telescopic boom type unmanned aerial vehicle air-based recovery docking control method of claim 4, wherein in the step 4, aiming at system lumped disturbance formed by undetectable transient disturbance and air-based recovery environment disturbance in a telescopic boom three-channel affine nonlinear model, the constructed expansion state observer is as follows:
Figure FDA0003307735860000032
in the formula (I), the compound is shown in the specification,
Figure FDA0003307735860000033
are all estimated values of the state of the system,
Figure FDA0003307735860000034
is xi, delta and delta l respectively3The value of the estimated value is,
Figure FDA0003307735860000035
respectively yaw angular velocity omega1Pitch angle velocity omega2And the sliding velocity v of the telescopic arm3An estimated value; e.g. of the typeE＝[eE1 eE2 eE3]TEstimating the deviation for the observer state, eE1、eE2、eE3Estimating deviations for states of the yaw, pitch and telescopic channel observers respectively;
Figure FDA0003307735860000036
in order to provide a system with a global disturbance estimate,
Figure FDA0003307735860000037
respectively estimating the total disturbance of the yaw, the pitch and the telescopic channels;
Figure FDA0003307735860000038
are all the coefficients of the observer,
Figure FDA0003307735860000039
respectively the bandwidth of the three channel observer.
6. The LADRC-based air-based retractable arm type unmanned aerial vehicle air-based recovery and docking control method according to claim 5, wherein in the step 5, the retractable arm type unmanned aerial vehicle air-based recovery and docking controller is in the following specific form:
Figure FDA0003307735860000041
in the formula (I), the compound is shown in the specification,
Figure FDA0003307735860000042
in order to provide a telescopic boom state instruction,
Figure FDA0003307735860000043
respectively indicating yaw, pitch and telescopic channel state instructions; e.g. of the typec1＝[ec11 ec12 ec13]T、ec2＝[ec21 ec22 ec23]TAre systematic tracking errors, ec11、ec12、ec13Yaw, pitch and telescoping channel tracking errors, respectively, ec21、ec22、ec23Respectively differentiating the tracking errors of the yaw, the pitch and the telescopic channel; u shapec＝[uc1 uc2 uc3]TFor control input, uc1、uc2、uc3Respectively as yaw, pitch and telescopic channel control inputs; c1＝diag(c11,c12,c13)、C2＝diag(c21,c22,c23) As controller coefficient, c11、c21For yaw channel controller coefficients, c12、c22For pitch channel controller coefficients, c13、c23Is the controller coefficient of the telescopic channel.
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